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+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0027/20260513_014514.json b/robot_trajectories/no_distraction/press_toaster/0027/20260513_014514.json
new file mode 100644
index 0000000000000000000000000000000000000000..55f944b34772a6f541cf068b54dd90c0b0d59cf6
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0027/20260513_014514.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
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+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
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+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0028/20260513_014518.json b/robot_trajectories/no_distraction/press_toaster/0028/20260513_014518.json
new file mode 100644
index 0000000000000000000000000000000000000000..32dbb54bdc4c9e9538a5097a5b9953b41fec9f55
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0028/20260513_014518.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
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+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
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+      "success": true
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+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0029/20260513_014521.json b/robot_trajectories/no_distraction/press_toaster/0029/20260513_014521.json
new file mode 100644
index 0000000000000000000000000000000000000000..e195337686a18f62009cbfe30b53efe4deebc276
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0029/20260513_014521.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
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+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
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+      "success": true
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+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0034/20260513_014537.json b/robot_trajectories/no_distraction/press_toaster/0034/20260513_014537.json
new file mode 100644
index 0000000000000000000000000000000000000000..f54f2c10983fc1447a287330e11f8e028e3d2b10
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0034/20260513_014537.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
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+      "reset_kwargs": {
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+    }
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+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0035/20260513_014540.json b/robot_trajectories/no_distraction/press_toaster/0035/20260513_014540.json
new file mode 100644
index 0000000000000000000000000000000000000000..a02dd023b1d61380380bafd7417d8435cb3bb590
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0035/20260513_014540.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
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+  "episodes": [
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+      "reset_kwargs": {
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+      "success": true
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+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0039/20260513_014552.json b/robot_trajectories/no_distraction/press_toaster/0039/20260513_014552.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d3211d08f9703034116e9a8db4d0ec1d9d29a0d
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0039/20260513_014552.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  "commit_info": null,
+  "episodes": [
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+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0040/20260513_014556.json b/robot_trajectories/no_distraction/press_toaster/0040/20260513_014556.json
new file mode 100644
index 0000000000000000000000000000000000000000..89ae4e61cc90b69b86d68f379021bcf409ac628a
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0040/20260513_014556.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0041/20260513_014559.json b/robot_trajectories/no_distraction/press_toaster/0041/20260513_014559.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cbcfca65ed2724902d07ef76f7a522f5336e95a
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0041/20260513_014559.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  "commit_info": null,
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+      "reset_kwargs": {
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+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0043/20260513_014606.json b/robot_trajectories/no_distraction/press_toaster/0043/20260513_014606.json
new file mode 100644
index 0000000000000000000000000000000000000000..88d0f08d7b556257f915085e39f39f698fc17aef
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0043/20260513_014606.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  "commit_info": null,
+  "episodes": [
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0044/20260513_014610.json b/robot_trajectories/no_distraction/press_toaster/0044/20260513_014610.json
new file mode 100644
index 0000000000000000000000000000000000000000..c77e8bb771bccec3f1b842b92a1f8695167283f9
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0044/20260513_014610.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 1307974046,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0046/20260513_014617.json b/robot_trajectories/no_distraction/press_toaster/0046/20260513_014617.json
new file mode 100644
index 0000000000000000000000000000000000000000..c78aeb466f46cd5ac19433e30915212a0c792a99
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0046/20260513_014617.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 1510786950,
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0048/20260513_014623.json b/robot_trajectories/no_distraction/press_toaster/0048/20260513_014623.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9a8868c2b5f76f4c0bf04a895dd6a003af71b5e
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0048/20260513_014623.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 2034685613,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0051/20260513_014632.json b/robot_trajectories/no_distraction/press_toaster/0051/20260513_014632.json
new file mode 100644
index 0000000000000000000000000000000000000000..a595989b33c0389a2ef35eeedd7cfd5f9eab3571
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0051/20260513_014632.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 1388881564,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0054/20260513_014643.json b/robot_trajectories/no_distraction/press_toaster/0054/20260513_014643.json
new file mode 100644
index 0000000000000000000000000000000000000000..964c5f05013ae99531428a0966c935e71198e40d
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0054/20260513_014643.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  },
+  "commit_info": null,
+  "episodes": [
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+      "episode_seed": 837816986,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+      },
+      "success": false
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0056/20260513_014651.json b/robot_trajectories/no_distraction/press_toaster/0056/20260513_014651.json
new file mode 100644
index 0000000000000000000000000000000000000000..149128e4de300c7e20cca948d6d79c0bc9263cda
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0056/20260513_014651.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
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+  },
+  "commit_info": null,
+  "episodes": [
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+      "reset_kwargs": {
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+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0059/20260513_014701.json b/robot_trajectories/no_distraction/press_toaster/0059/20260513_014701.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe470e57011407fbb38e7c6249ac4560c662db1
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0059/20260513_014701.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 1179618369,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0062/20260513_014711.json b/robot_trajectories/no_distraction/press_toaster/0062/20260513_014711.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b803737db2d18d1d9bf05456e7650361367a578
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0062/20260513_014711.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
+      "control_mode": "pd_joint_pos"
+    },
+    "max_episode_steps": 200
+  },
+  "commit_info": null,
+  "episodes": [
+    {
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+      "episode_seed": 2087464052,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null
+      },
+      "success": true
+    }
+  ],
+  "source_type": "motionplanning",
+  "source_desc": "Automated toaster poke demonstration"
+}
\ No newline at end of file
diff --git a/robot_trajectories/no_distraction/press_toaster/0064/20260513_014717.json b/robot_trajectories/no_distraction/press_toaster/0064/20260513_014717.json
new file mode 100644
index 0000000000000000000000000000000000000000..0efbbba73876efbfb56e3784ba713213d9bd7d2b
--- /dev/null
+++ b/robot_trajectories/no_distraction/press_toaster/0064/20260513_014717.json
@@ -0,0 +1,28 @@
+{
+  "env_info": {
+    "env_id": "Toaster-v1",
+    "env_kwargs": {
+      "obs_mode": "state",
+      "num_envs": 1,
+      "render_mode": "rgb_array",
+      "robot_uids": "panda_wristcam_hd",
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